00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: extract_indices.h 34544 2010-12-06 11:22:55Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_FILTERS_EXTRACTINDICES_H_ 00039 #define PCL_FILTERS_EXTRACTINDICES_H_ 00040 00041 #include "pcl/filters/filter.h" 00042 00043 namespace pcl 00044 { 00048 00052 template <typename PointT> 00053 class ExtractIndices: public Filter<PointT> 00054 { 00055 using Filter<PointT>::filter_name_; 00056 using Filter<PointT>::getClassName; 00057 using Filter<PointT>::use_indices_; 00058 using Filter<PointT>::indices_; 00059 using Filter<PointT>::input_; 00060 00061 typedef typename Filter<PointT>::PointCloud PointCloud; 00062 typedef typename PointCloud::Ptr PointCloudPtr; 00063 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00064 00065 public: 00067 00068 ExtractIndices () : negative_ (false) 00069 { 00070 use_indices_ = true; 00071 filter_name_ = "ProjectInliers"; 00072 } 00073 00075 00078 inline void setNegative (bool negative) { negative_ = negative; } 00079 00081 00083 inline bool getNegative () { return (negative_); } 00084 00085 protected: 00087 00090 void applyFilter (PointCloud &output); 00091 00093 bool negative_; 00094 }; 00095 00099 00103 template <> 00104 class ExtractIndices<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2> 00105 { 00106 using Filter<sensor_msgs::PointCloud2>::filter_name_; 00107 using Filter<sensor_msgs::PointCloud2>::getClassName; 00108 00109 typedef sensor_msgs::PointCloud2 PointCloud2; 00110 typedef PointCloud2::Ptr PointCloud2Ptr; 00111 typedef PointCloud2::ConstPtr PointCloud2ConstPtr; 00112 00113 public: 00115 00116 ExtractIndices () : negative_ (false) 00117 { 00118 use_indices_ = true; 00119 filter_name_ = "ProjectInliers"; 00120 } 00121 00123 00126 inline void setNegative (bool negative) { negative_ = negative; } 00127 00129 00131 inline bool getNegative () { return (negative_); } 00132 00133 protected: 00134 void applyFilter (PointCloud2 &output); 00135 00137 bool negative_; 00138 }; 00139 } 00140 00141 #endif //#ifndef PCL_FILTERS_EXTRACTINDICES_H_